- Roborio starts with the inital values on start, along with the xbox values
- sends the values to the motor
- the encoders and sensors give the motor controllers nesc. values
- The motor controllers (All at the same time, parallel), do the swerve math, (look at
swerveMath.py*, also article) - move all the motors
- Roborio constantly broadcasts Xbox values, motors move
Imp. Note: The motors don't need to complete a movement to do the next movement, they move whenever they recieve an xbox value
red(Rio) Orange(Motor Controller)
*swerveMath.py contains raw equations, Wpilib/Rev has abstractions